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<div class="title">D:/Workspace/Arduino/prencar/LiftCube.cpp</div>  </div>
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<a href="_lift_cube_8cpp.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="preprocessor">#include &quot;Arduino.h&quot;</span>
<a name="l00002"></a>00002 <span class="preprocessor">#include &quot;<a class="code" href="_lift_cube_8h.html">LiftCube.h</a>&quot;</span>
<a name="l00003"></a>00003 <span class="preprocessor">#include &quot;<a class="code" href="_configuration_8h.html">Configuration.h</a>&quot;</span>
<a name="l00004"></a>00004 <span class="preprocessor">#include &quot;<a class="code" href="_communication_8h.html">Communication.h</a>&quot;</span>
<a name="l00005"></a>00005 
<a name="l00006"></a>00006 <a class="code" href="class_lift_cube.html">LiftCube</a> <a class="code" href="class_lift_cube.html#a93b949abb4659fd6801c8b5c53d17f49" title="Static reference to the singleton object.">LiftCube::_instance</a>; 
<a name="l00007"></a>00007 <span class="keywordtype">boolean</span> <a class="code" href="class_lift_cube.html#a4cec38045e6a075620851c7c848c0584">LiftCube::_instanceCreated</a> = <span class="keyword">false</span>;
<a name="l00008"></a>00008 
<a name="l00013"></a><a class="code" href="class_lift_cube.html#a7482caae31a755370d072f6ec85ad598">00013</a> <a class="code" href="class_lift_cube.html">LiftCube</a>* <a class="code" href="class_lift_cube.html#a7482caae31a755370d072f6ec85ad598">LiftCube::getInstance</a>()
<a name="l00014"></a>00014 {
<a name="l00015"></a>00015   <span class="keywordflow">if</span> ( !<a class="code" href="class_lift_cube.html#a4cec38045e6a075620851c7c848c0584">_instanceCreated</a> ){
<a name="l00016"></a>00016     <a class="code" href="class_lift_cube.html#a93b949abb4659fd6801c8b5c53d17f49" title="Static reference to the singleton object.">_instance</a> = <a class="code" href="class_lift_cube.html#a5bf2f6939ce4578fbf54d9214dd91fb3">LiftCube</a>();
<a name="l00017"></a>00017     <a class="code" href="class_lift_cube.html#a4cec38045e6a075620851c7c848c0584">_instanceCreated</a> = <span class="keyword">true</span>;
<a name="l00018"></a>00018 
<a name="l00019"></a>00019     <span class="comment">//do the configuration stuff so that a call to begin() from the outside of the</span>
<a name="l00020"></a>00020     <span class="comment">//class is not necessary</span>
<a name="l00021"></a>00021     <a class="code" href="class_lift_cube.html#a93b949abb4659fd6801c8b5c53d17f49" title="Static reference to the singleton object.">_instance</a>.<a class="code" href="class_lift_cube.html#a9da2ca841910ad988f5b7e0313714968">begin</a>();
<a name="l00022"></a>00022   }
<a name="l00023"></a>00023   <span class="keywordflow">return</span> &amp;<a class="code" href="class_lift_cube.html#a93b949abb4659fd6801c8b5c53d17f49" title="Static reference to the singleton object.">_instance</a>;
<a name="l00024"></a>00024 }
<a name="l00025"></a>00025 
<a name="l00026"></a>00026 
<a name="l00030"></a><a class="code" href="class_lift_cube.html#a5bf2f6939ce4578fbf54d9214dd91fb3">00030</a> <a class="code" href="class_lift_cube.html#a5bf2f6939ce4578fbf54d9214dd91fb3">LiftCube::LiftCube</a>()
<a name="l00031"></a>00031 {
<a name="l00032"></a>00032 
<a name="l00033"></a>00033 }
<a name="l00034"></a>00034 
<a name="l00043"></a><a class="code" href="class_lift_cube.html#a9da2ca841910ad988f5b7e0313714968">00043</a> <span class="keywordtype">void</span> <a class="code" href="class_lift_cube.html#a9da2ca841910ad988f5b7e0313714968">LiftCube::begin</a>(){
<a name="l00044"></a>00044   <a class="code" href="class_lift_cube.html#aea8e72092e201140adecaf04a98706d5" title="The reference to the configuration class.">_conf</a> = <a class="code" href="class_lift_cube.html#a7482caae31a755370d072f6ec85ad598">Configuration::getInstance</a>();
<a name="l00045"></a>00045   <a class="code" href="class_lift_cube.html#afb428580284ed0c38d6cf3745904d060" title="The reference to the serial communication class.">_com</a> = <a class="code" href="class_lift_cube.html#a7482caae31a755370d072f6ec85ad598">Communication::getInstance</a>();
<a name="l00046"></a>00046   <a class="code" href="class_lift_cube.html#a581b0da85ced4d678fb8a61dd0a51aa4" title="The reference to the ExtendedMove class.">_extMove</a> = <a class="code" href="class_lift_cube.html#a7482caae31a755370d072f6ec85ad598">ExtendedMove::getInstance</a>();
<a name="l00047"></a>00047 
<a name="l00048"></a>00048   pinMode(<a class="code" href="class_lift_cube.html#aea8e72092e201140adecaf04a98706d5" title="The reference to the configuration class.">_conf</a>-&gt;<a class="code" href="class_configuration.html#a25401bc6511b005d70f71e4b72f71c03" title="The pin where the servo motor of the hoist is connected to.">liftCubePwmPin</a>, OUTPUT);
<a name="l00049"></a>00049   pinMode(<a class="code" href="class_lift_cube.html#aea8e72092e201140adecaf04a98706d5" title="The reference to the configuration class.">_conf</a>-&gt;<a class="code" href="class_configuration.html#a795f86091deeb53575bf3818eeaf0071" title="Hardware pin to which the end switch is attached.">liftCubeSwitchPin</a>, INPUT);
<a name="l00050"></a>00050 
<a name="l00051"></a>00051   <span class="comment">//make sure the pull up resistor is on</span>
<a name="l00052"></a>00052   <span class="comment">//switching on the pull up resistor means that the signal will be high as long as</span>
<a name="l00053"></a>00053   <span class="comment">//the chord attached to that pin is connected to the ground</span>
<a name="l00054"></a>00054   digitalWrite(<a class="code" href="class_lift_cube.html#aea8e72092e201140adecaf04a98706d5" title="The reference to the configuration class.">_conf</a>-&gt;<a class="code" href="class_configuration.html#a795f86091deeb53575bf3818eeaf0071" title="Hardware pin to which the end switch is attached.">liftCubeSwitchPin</a>, HIGH);
<a name="l00055"></a>00055 
<a name="l00056"></a>00056   <a class="code" href="class_lift_cube.html#ac3ef9d92dc8953be1cb25b47e3d1ba6a" title="Will be set to true as soon as the cube lift process starts and will therefore prevent a second call ...">liftingStarted</a> = <span class="keyword">false</span>;
<a name="l00057"></a>00057   <a class="code" href="class_lift_cube.html#a7a13f30623f88cfa1de6437665854990" title="Will be set to true as soon as the cube is lifted. If set to true the cube will not be lifted again a...">cubeLifted</a> = <span class="keyword">false</span>;
<a name="l00058"></a>00058 
<a name="l00059"></a>00059   <a class="code" href="class_lift_cube.html#ac1cad13e4bcc8f961b5ef642a685455b">_hoistServo</a>.attach(<a class="code" href="class_lift_cube.html#aea8e72092e201140adecaf04a98706d5" title="The reference to the configuration class.">_conf</a>-&gt;<a class="code" href="class_configuration.html#a25401bc6511b005d70f71e4b72f71c03" title="The pin where the servo motor of the hoist is connected to.">liftCubePwmPin</a>);
<a name="l00060"></a>00060 }
<a name="l00061"></a>00061 
<a name="l00066"></a><a class="code" href="class_lift_cube.html#ab5d1090dfcf43a319666d905b374d4a6">00066</a> <span class="keywordtype">void</span> <a class="code" href="class_lift_cube.html#ab5d1090dfcf43a319666d905b374d4a6">LiftCube::doJob</a>(){
<a name="l00067"></a>00067   <span class="keywordtype">int</span> switchState = digitalRead(<a class="code" href="class_lift_cube.html#aea8e72092e201140adecaf04a98706d5" title="The reference to the configuration class.">_conf</a>-&gt;<a class="code" href="class_configuration.html#a795f86091deeb53575bf3818eeaf0071" title="Hardware pin to which the end switch is attached.">liftCubeSwitchPin</a>);
<a name="l00068"></a>00068   <span class="keywordflow">if</span>(switchState == 0 &amp;&amp; <a class="code" href="class_lift_cube.html#ac3ef9d92dc8953be1cb25b47e3d1ba6a" title="Will be set to true as soon as the cube lift process starts and will therefore prevent a second call ...">liftingStarted</a> == <span class="keyword">false</span> &amp;&amp; <a class="code" href="class_lift_cube.html#a7a13f30623f88cfa1de6437665854990" title="Will be set to true as soon as the cube is lifted. If set to true the cube will not be lifted again a...">cubeLifted</a> == <span class="keyword">false</span>){
<a name="l00069"></a>00069     <a class="code" href="class_lift_cube.html#afb428580284ed0c38d6cf3745904d060" title="The reference to the serial communication class.">_com</a>-&gt;<a class="code" href="class_communication.html#a8679b3cb7ceef5527faa24454ce0f18a">send</a>(69);
<a name="l00070"></a>00070     <a class="code" href="class_lift_cube.html#a11c5c99c275d5a4acfc778852976f6cd">liftCube</a>();
<a name="l00071"></a>00071     <a class="code" href="class_lift_cube.html#ac3ef9d92dc8953be1cb25b47e3d1ba6a" title="Will be set to true as soon as the cube lift process starts and will therefore prevent a second call ...">liftingStarted</a> = <span class="keyword">true</span>;
<a name="l00072"></a>00072 
<a name="l00073"></a>00073     <span class="comment">//stop the moving car to be sure not to drive over the parcours boarders.</span>
<a name="l00074"></a>00074     <a class="code" href="struct_move_command.html">MoveCommand</a>* mc = <a class="code" href="class_lift_cube.html#a581b0da85ced4d678fb8a61dd0a51aa4" title="The reference to the ExtendedMove class.">_extMove</a>-&gt;<a class="code" href="class_extended_move.html#a5f34e9081613ec4d1796cac234b9cbb5" title="Current queue with commands that are executed.">commandQueue</a>;
<a name="l00075"></a>00075     mc[0].<a class="code" href="struct_move_command.html#ada8cf3cf629ff7847de2844abb8db7ad" title="Defines for how long this command shall be executed (milliseconds).">duration</a> = <a class="code" href="class_lift_cube.html#aea8e72092e201140adecaf04a98706d5" title="The reference to the configuration class.">_conf</a>-&gt;<a class="code" href="class_configuration.html#af69fe1dd7d85d1b7b1772f5abfc1ab54" title="Time for which the motors shall &quot;rotate&quot; backwards with the speed set in liftCubeStopSpeed.">liftCubeStopDuration</a>;
<a name="l00076"></a>00076     mc[0].<a class="code" href="struct_move_command.html#a88e7e4c62bf65a3cf306ff587dd8b55b">dirLeftMotor</a> = <a class="code" href="_move_8h.html#a4d576498f070661245f38f5f34d34f02ab0b7e8cfed43da5fcfd380964736fadc" title="The motor rotates backward.">backwards</a>;
<a name="l00077"></a>00077     mc[0].<a class="code" href="struct_move_command.html#a6ab4371e644543e7d92dd4f5439998d0">speedLeftMotor</a> = <a class="code" href="class_lift_cube.html#aea8e72092e201140adecaf04a98706d5" title="The reference to the configuration class.">_conf</a>-&gt;<a class="code" href="class_configuration.html#ace271e960cae68a452d5330d0af7d46a" title="The speed for the stop action which is performed after the cube lifting process has started...">liftCubeStopSpeed</a>;
<a name="l00078"></a>00078     mc[0].<a class="code" href="struct_move_command.html#a645219cea821358f4a3ae7c8e2192ed9">dirRightMotor</a> = <a class="code" href="_move_8h.html#a4d576498f070661245f38f5f34d34f02ab0b7e8cfed43da5fcfd380964736fadc" title="The motor rotates backward.">backwards</a>;
<a name="l00079"></a>00079     mc[0].<a class="code" href="struct_move_command.html#aa573be1cf5e1dc2cb21bed08980d379c">speedRightMotor</a> = <a class="code" href="class_lift_cube.html#aea8e72092e201140adecaf04a98706d5" title="The reference to the configuration class.">_conf</a>-&gt;<a class="code" href="class_configuration.html#ace271e960cae68a452d5330d0af7d46a" title="The speed for the stop action which is performed after the cube lifting process has started...">liftCubeStopSpeed</a>;
<a name="l00080"></a>00080 
<a name="l00081"></a>00081     <a class="code" href="class_lift_cube.html#a581b0da85ced4d678fb8a61dd0a51aa4" title="The reference to the ExtendedMove class.">_extMove</a>-&gt;<a class="code" href="class_extended_move.html#a816f77b595c0ca03d44dd21b2d4de5ba">startCurrentQueue</a>(1);
<a name="l00082"></a>00082   }
<a name="l00083"></a>00083 
<a name="l00084"></a>00084   <span class="keywordflow">if</span>(<a class="code" href="class_lift_cube.html#aeb1974f95c87f79df20161f44dd6c7bc" title="Saves the timestamp when the method liftCube is called to know when it&#39;s time to lift up again...">_liftDownStartTimestamp</a> != 0 &amp;&amp; millis() &gt; <a class="code" href="class_lift_cube.html#aeb1974f95c87f79df20161f44dd6c7bc" title="Saves the timestamp when the method liftCube is called to know when it&#39;s time to lift up again...">_liftDownStartTimestamp</a> + <a class="code" href="class_lift_cube.html#aea8e72092e201140adecaf04a98706d5" title="The reference to the configuration class.">_conf</a>-&gt;<a class="code" href="class_configuration.html#a3c887c3a7f7aa88ee549c81a62cf1c9c" title="Time in milliseconds between the liftDown and the liftUp command of the method LiftCube::liftCube()">liftCubeDownUpDuration</a>){
<a name="l00085"></a>00085     <span class="comment">//move the hoist up</span>
<a name="l00086"></a>00086     <a class="code" href="class_lift_cube.html#afb428580284ed0c38d6cf3745904d060" title="The reference to the serial communication class.">_com</a>-&gt;<a class="code" href="class_communication.html#a8679b3cb7ceef5527faa24454ce0f18a">send</a>(64);
<a name="l00087"></a>00087     <a class="code" href="class_lift_cube.html#aeb1974f95c87f79df20161f44dd6c7bc" title="Saves the timestamp when the method liftCube is called to know when it&#39;s time to lift up again...">_liftDownStartTimestamp</a> = 0;
<a name="l00088"></a>00088     <a class="code" href="class_lift_cube.html#a517b1b3c4dc314d228ba4dc79d17de64">liftUp</a>();
<a name="l00089"></a>00089     <a class="code" href="class_lift_cube.html#a7a13f30623f88cfa1de6437665854990" title="Will be set to true as soon as the cube is lifted. If set to true the cube will not be lifted again a...">cubeLifted</a> = <span class="keyword">true</span>;
<a name="l00090"></a>00090     <a class="code" href="class_lift_cube.html#ac3ef9d92dc8953be1cb25b47e3d1ba6a" title="Will be set to true as soon as the cube lift process starts and will therefore prevent a second call ...">liftingStarted</a> = <span class="keyword">false</span>;
<a name="l00091"></a>00091   }
<a name="l00092"></a>00092 }
<a name="l00093"></a>00093 
<a name="l00098"></a><a class="code" href="class_lift_cube.html#a517b1b3c4dc314d228ba4dc79d17de64">00098</a> <span class="keywordtype">void</span> <a class="code" href="class_lift_cube.html#a517b1b3c4dc314d228ba4dc79d17de64">LiftCube::liftUp</a>()
<a name="l00099"></a>00099 {
<a name="l00100"></a>00100   <a class="code" href="class_lift_cube.html#a6b6c013383282736029056541de33844">setHoistPosition</a>(<a class="code" href="class_lift_cube.html#aea8e72092e201140adecaf04a98706d5" title="The reference to the configuration class.">_conf</a>-&gt;<a class="code" href="class_configuration.html#af6652efed17691fef4fa435e38c1642f" title="Pwm value to set if the hoist has to be moved up fully.">liftCubeUpPosition</a>);
<a name="l00101"></a>00101 }
<a name="l00102"></a>00102 
<a name="l00107"></a><a class="code" href="class_lift_cube.html#a652d399235cafb5179a2d6c65df11112">00107</a> <span class="keywordtype">void</span> <a class="code" href="class_lift_cube.html#a652d399235cafb5179a2d6c65df11112">LiftCube::liftDown</a>()
<a name="l00108"></a>00108 {
<a name="l00109"></a>00109   <a class="code" href="class_lift_cube.html#a6b6c013383282736029056541de33844">setHoistPosition</a>(<a class="code" href="class_lift_cube.html#aea8e72092e201140adecaf04a98706d5" title="The reference to the configuration class.">_conf</a>-&gt;<a class="code" href="class_configuration.html#ac8a8b2bf842c6559c30c11436eff5c83" title="Pwm value to set if the hoist has to be moved up fully.">liftCubeDownPosition</a>);
<a name="l00110"></a>00110 }
<a name="l00111"></a>00111 
<a name="l00121"></a><a class="code" href="class_lift_cube.html#a11c5c99c275d5a4acfc778852976f6cd">00121</a> <span class="keywordtype">void</span> <a class="code" href="class_lift_cube.html#a11c5c99c275d5a4acfc778852976f6cd">LiftCube::liftCube</a>()
<a name="l00122"></a>00122 {
<a name="l00123"></a>00123   <a class="code" href="class_lift_cube.html#afb428580284ed0c38d6cf3745904d060" title="The reference to the serial communication class.">_com</a>-&gt;<a class="code" href="class_communication.html#a8679b3cb7ceef5527faa24454ce0f18a">send</a>(63);
<a name="l00124"></a>00124   <a class="code" href="class_lift_cube.html#aeb1974f95c87f79df20161f44dd6c7bc" title="Saves the timestamp when the method liftCube is called to know when it&#39;s time to lift up again...">_liftDownStartTimestamp</a> = millis();
<a name="l00125"></a>00125   <a class="code" href="class_lift_cube.html#a652d399235cafb5179a2d6c65df11112">liftDown</a>();
<a name="l00126"></a>00126 }
<a name="l00127"></a>00127 
<a name="l00131"></a><a class="code" href="class_lift_cube.html#a6b6c013383282736029056541de33844">00131</a> <span class="keywordtype">void</span> <a class="code" href="class_lift_cube.html#a6b6c013383282736029056541de33844">LiftCube::setHoistPosition</a>(byte pos){
<a name="l00132"></a>00132   <a class="code" href="class_lift_cube.html#afb428580284ed0c38d6cf3745904d060" title="The reference to the serial communication class.">_com</a>-&gt;<a class="code" href="class_communication.html#a8679b3cb7ceef5527faa24454ce0f18a">send</a>(65, pos);
<a name="l00133"></a>00133   <a class="code" href="class_lift_cube.html#ac1cad13e4bcc8f961b5ef642a685455b">_hoistServo</a>.write(pos);
<a name="l00134"></a>00134 }
<a name="l00135"></a>00135 
<a name="l00136"></a>00136 
<a name="l00137"></a>00137 
<a name="l00138"></a>00138 
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